From 09db935874913b386d940e0dd91d860a0a0fc226 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 22 Jun 2012 18:14:27 +1000
Subject: [PATCH] Rover: a rover moves along its X axis

this allows a rover to work without a compass for yaw control
---
 APMrover2/system.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index 0c44719156..fb6e98ef46 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -485,7 +485,7 @@ static void startup_IMU_ground(bool force_accel_level)
         // it once via the ground station	
 	imu.init_accel(mavlink_delay, flash_leds);
 	}
-	ahrs.set_centripetal(1);
+	ahrs.set_fly_forward(true);
     ahrs.reset();
 
 	// read Baro pressure at ground